
%% zzuNeural
% 1.随机选一个MPU6050.txt就行，记得删除上下两个半行，求平均
imudata_static = load("F:\Attitude data\MPU6050_5.txt");

AccXYZ = mean((imudata_static(:,1:3)-32768) * 16 * 9.7966 / 32768);% m^2/s, Range：±4g
AngVelXYZ = mean((imudata_static(:,4:6)-32768) * 1000 / 32768);% °/s, Range：±500
acc_bias = [0,0,9.7966] - AccXYZ; 
gyro_bias = [0,0,0]-AngVelXYZ;
    
% 设备1：加速度零偏[0.160780855315328,-0.140685535841661,0.435877629521006]; 角速度零偏[3.223180831679578,-0.243813734339135,0.766613081504240];

%% 3birdPosAtt
imudata_static = load("C:\Users\HP\Desktop\3birds\1.ALLTEST\20240906\BiasTest\device_2\progressed_data\merger_imu.txt");

AccXYZ = mean((imudata_static(:,5:7)-32768) * 16 * 9.7966 / 32768);% m^2/s, Range：±4g
AngVelXYZ = mean((imudata_static(:,8:10)-32768) * 1000 / 32768);% °/s, Range：±500
acc_bias = [0,0,9.7966] - AccXYZ; 
gyro_bias = [0,0,0]-AngVelXYZ;
    
% 设备1：加速度零偏[-0.686192379006895,-0.959031736654023,0.278989991367265]; 角速度零偏[-1.195969455791829,-3.213544079787970,-31.651342950795320];
% 设备2：[0.100351585632734,1.795577932774103,2.406156748488472]; [-19.101083023245476,5.233274521758554,31.216475753624640]